manipulation.constraint_graph_factory.ConstraintFactory Class Reference

Default implementation of ConstraintFactoryAbstract. More...

Inheritance diagram for manipulation.constraint_graph_factory.ConstraintFactory:

Collaboration diagram for manipulation.constraint_graph_factory.ConstraintFactory:

Public Member Functions
def	__init__ (self, graphfactory, graph)
def	buildGrasp (self, g, h)
	Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp. More...
def	buildPlacement (self, o)
def	buildStrictPlacement (self, o)
	This implements strict placement manifolds, where the parameterization constraints is the complement of the placement constraint. More...
def	buildRelaxedPlacement (self, o)
	This implements relaxed placement manifolds, where the parameterization constraints is the LockedJoint of the object root joint. More...
Public Member Functions inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
def	__init__ (self, graphfactory)
def	buildGrasp (self, g, h)
	Function called to create grasp constraints. More...
def	buildPlacement (self, o)
	Function called to create placement constraints. More...
def	getGrasp (self, gripper, handle)
def	g (self, gripper, handle, what)
def	getPlacement (self, object)
def	p (self, object, what)

Public Attributes
	graph
	strict
	Select whether placement should be strict or relaxed. More...
Public Attributes inherited from manipulation.constraint_graph_factory.ConstraintFactoryAbstract
	graphfactory

Static Public Attributes
tuple	gfields = ('grasp', 'graspComplement', 'preGrasp')
tuple	pfields = ('placement', 'placementComplement', 'prePlacement')

Detailed Description

Default implementation of ConstraintFactoryAbstract.

Constructor & Destructor Documentation

def manipulation.constraint_graph_factory.ConstraintFactory.__init__	(		self,
			graphfactory,
			graph
	)

Member Function Documentation

def manipulation.constraint_graph_factory.ConstraintFactory.buildGrasp	(		self,
			g,
			h
	)

Calls ConstraintGraph.createGraph and ConstraintGraph.createPreGrasp.

Parameters

g	gripper string
h	handle string

References manipulation.constraint_graph_factory.ConstraintFactory.gfields.

def manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement	(		self,
			o
	)

References manipulation.constraint_graph_factory.ConstraintFactory.buildRelaxedPlacement(), manipulation.constraint_graph_factory.ConstraintFactory.buildStrictPlacement(), and manipulation.constraint_graph_factory.ConstraintFactory.strict.

def manipulation.constraint_graph_factory.ConstraintFactory.buildRelaxedPlacement	(		self,
			o
	)

This implements relaxed placement manifolds, where the parameterization constraints is the LockedJoint of the object root joint.

Parameters

o

string

References manipulation.constraint_graph_factory.ConstraintFactory.pfields.

Referenced by manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement().

def manipulation.constraint_graph_factory.ConstraintFactory.buildStrictPlacement	(		self,
			o
	)

This implements strict placement manifolds, where the parameterization constraints is the complement of the placement constraint.

Parameters

o

string

References manipulation.constraint_graph_factory.ConstraintFactory.pfields.

Referenced by manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement().

Member Data Documentation

tuple manipulation.constraint_graph_factory.ConstraintFactory.gfields = ('grasp', 'graspComplement', 'preGrasp')

static

Referenced by manipulation.constraint_graph_factory.ConstraintFactory.buildGrasp().

manipulation.constraint_graph_factory.ConstraintFactory.graph

tuple manipulation.constraint_graph_factory.ConstraintFactory.pfields = ('placement', 'placementComplement', 'prePlacement')

static

Referenced by manipulation.constraint_graph_factory.ConstraintFactory.buildRelaxedPlacement(), and manipulation.constraint_graph_factory.ConstraintFactory.buildStrictPlacement().

manipulation.constraint_graph_factory.ConstraintFactory.strict

Select whether placement should be strict or relaxed.

See also

buildStrictPlacement, buildRelaxedPlacement

Referenced by manipulation.constraint_graph_factory.ConstraintFactory.buildPlacement().